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Contents
Contents
1 What is GIM?
1.1 Application of GIM software . . . . . . . . . . . . . . . . . . . . . . .
1.2 Access to GIM software . . . . . . . . . . . . . . . . . . . . . . . . .
2 Main Modules in Kinematic Analysis
2.1 Geometry module . . . . . . . . . . . . . . . . .
2.1.1 Basic options . . . . . . . . . . . . . . .
2.1.2 Defining the geometry of the mechanism
2.2 Motion module . . . . . . . . . . . . . . . . . .
2.2.1 Defining the input conditions . . . . . . .
2.2.2 Getting into the kinematics . . . . . . . .
2.2.3 Graphical plots . . . . . . . . . . . . . .
3 Examples of Planar Mechanisms
GIM Software
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1 What is GIM?
1 What is GIM?
GIM is a registered software created by the COMPMECH Research Group, belonging
to the Department of Mechanical Engineering of the University of the Basque Country
(UPV/EHU). The software is intended for educational purposes, in particular destined to
the field of kinematic analysis, motion simulation and synthesis of planar mechanisms,
and also static analysis of mechanical structures.
This tutorial refers to GIM Software, Part I, which focuses on the kinematic analysis
and motion simulation of mechanisms. Planar mechanisms with n-ary elements joined
by revolute and prismatic pairs can be introduced. The position problem is solved iteratively using a numerical method, several of its conditions can be controlled and visualized. Inputs can be defined with a polynomial up to the quintic, so position, velocity
and acceleration can be specified at motion extremes.
The program allows plotting the paths of points of interest, as well as the curvature
center and curvature center locus of the trajectory, and also the area swept by specific
elements of the mechanism can be depicted. Velocities and accelerations can be obtained and the corresponding vectors visualized as the motion is performed, also graphs
and tables associated with this data can be plotted. Every kinematic construction can be
represented: Instantaneous Center of Rotation (ICR), fixed and moving polodes, acceleration pole, main circles (inflection circle, return circle and Bresse circle), and so on
(see illustrative example in Fig. 1).
GIM Software
1 What is GIM?
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Adjust to grid: selecting this option enables the designer to locate the nodes of the
mechanism adjusting to the grid depicted in the plotting window.
Spherical coordinates: serves to define the design of the mechanism using spherical coordinates.
Axes range: permits defining a specific range for the grid axes.
Axes ticks space: serves to define the number of tickmarks appearing in the grid.
GIM Software
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Kinematic joints: To define the kinematic joints of the mechanism just select the
corresponding icon (revolute or prismatic joint icon) and go to the drawing screen
in order to click on the corresponding node.
In order to illustrate the designing process, several examples are shown in the following videos:
Video of Four-bar mechanism - creating the geometry:
http://www.ehu.es/compmech/software/gim-examples-4-bar-mechanism/
Video of PRRP mechanism - creating the geometry:
http://www.ehu.es/compmech/software/gim-examples-prrp-mechanism/
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1. The vertical bar close to the drawing screen in which several icons appear so as
to define the inputs motion. The first five icons serve to define the inputs of the
mechanism. The two last icons permit selecting specific elements or nodes, and
showing graphs respectively (see Fig. 6).
The way the input conditions has to be established is detailed in Section 2.2.1.
2. The top horizontal bar containing, on the one hand, the icon that serves to compute
the motion (the calculator icon) and, on the other hand, the controls of the motion
simulation (play/pause, next step, previous step). Besides, just below the motion
controls, it is displayed the number of degrees of freedom, and the number of
redundant constraints (see Fig. 7).
3. Two boxes named Point display and Element display, in which the kinematic
properties related to points or elements of the mechanism are shown. This is
the main part of the Motion module, as it contains all the options that can be
visualized in relation to important kinematic features of the mechanism, as for
example, velocities and accelerations, points trajectory, Instantaneous Center of
Rotation (ICR), fixed and moving polodes, main circles, and so on (see Fig. 8).
Detailed explanation of the operation of this part is given in Section 2.2.2.
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(a)
(b)
Figure 9: Defining the input actuation: (a) selecting the input; (b) Establishing the input
conditions
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Trajectory
Velocity
Frame velocity
Absolute velocity
Acceleration
Tangent acceleration
Normal acceleration
Frame acceleration
Absolute acceleration
Coriolis acceleration
Curvature center
Curvature locus
On the other hand, regarding the elements of the mechanism (Element display
menu), the user can obtain the nest features:
Swept
Angular velocity
Angular acceleration
ICR (Instantaneous Center of Rotation)
Pole velocity
Fixed centrode
Moving centrode
Centrode tangent
ICA (Instantaneous Center of Acceleration)
Components
Inflection circle
Inversion circle
Line envelope
Return circle
In order to visualize any of the aforementioned options (or various options simultaneously) it is just needed to click the box (or boxes) associated with the desired option
included in Point or Element menu, and then select the point or element of interest.
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An illustrative example is shown in Figs. 10 and 11. In Fig. 10, some properties
of a point of interest, in this case the coupler point P, are displayed: the velocity and
acceleration, its trajectory and the curvature center of the trajectory. Figure 11 displays
significant kinematic features associated with a specific element, in this case the moving
platform: the ICR, and the fixed and moving centrodes.
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